version: 66.07.10.p01
glider: 573
mission: 9
dive: 436
start: 5 15 115 19 52 52
data:
$ID,573
$MISSION,9
$DIVE,436
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,20
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,611.52295
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14865.86
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,435
$GPS1,150515,194605,-3433.476,2509.196,47,1.3,47,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.0
$GPS2,150515,195230,-3433.431,2509.209,21,1.6,21,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3423.283,2513.685
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,47.7,20000,-16.9,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,106,0.00,0.00,-78.80,0.000,2,0.000,0.000,93,1936,2393,0,0,0,0,0,0
$GC,109,-1.05,-170.3,3.1,-3.4,13,160,12.20,2.53,-32.58,0.000,4,0.280,0.109,2679,496,3594,4,0,0,0,0,0
$GC,329,-0.88,-170.3,44.7,-19.3,49,334,0.30,2.58,0.00,0.000,6,0.196,0.103,2747,1922,3598,0,0,0,0,0,0
$GC,683,-0.84,-170.3,91.7,-13.1,110,688,0.05,2.50,0.00,0.000,4,0.243,0.108,2748,3355,3601,0,0,0,0,0,0
$GC,859,-0.84,-170.3,114.0,-12.1,131,866,0.03,2.55,0.00,0.000,6,0.151,0.099,2767,1911,3601,0,0,0,0,0,0
$STATE,1049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1049,begin apogee
$GC,1054,-0.25,0.0,137.4,12.9,149,1190,0.65,0.00,128.52,0.620,6,0.203,0.000,2944,1762,2902,0,0,0,0,0,0
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,1.05,170.3,145.0,0.0,163,1335,1.33,2.40,131.98,0.613,4,0.109,0.050,3381,322,2207,0,0,0,0,0,0
$GC,1495,0.91,181.0,129.8,9.6,191,1510,0.20,2.30,9.65,0.544,6,0.154,0.034,3326,1776,2164,0,0,0,0,0,0
$GC,1836,0.89,217.3,101.3,8.6,223,1871,0.00,0.00,30.25,0.605,6,0.000,0.000,3326,1776,2015,0,0,0,0,0,0
$GC,2214,0.84,217.3,66.0,10.9,288,2222,0.08,2.33,0.00,0.000,4,0.199,0.074,3309,3175,2010,0,0,0,0,0,0
$GC,2263,0.81,217.3,60.4,11.2,296,2269,0.10,2.42,0.00,0.000,6,0.185,0.087,3294,1747,2010,0,0,0,0,0,0
$GC,2617,0.88,276.8,34.4,7.7,357,2662,0.08,0.00,37.10,0.591,6,0.116,0.000,3363,1747,1771,0,0,0,0,0,0
$GC,2807,0.86,293.8,19.5,9.3,389,2822,0.17,2.40,7.95,0.476,4,0.153,0.081,3315,3171,1704,0,0,0,0,0,0
$GC,2927,0.99,373.1,11.7,6.9,408,2972,0.05,2.45,38.35,0.504,6,0.061,0.088,3390,1758,1378,0,0,0,0,0,0
$STATE,3022,end climb,SURFACE_DEPTH_REACHED
$STATE,3022,begin surface coast
$FINISH,1.3,1.021103
$STATE,3060,end surface coast,CONTROL_FINISHED_OK
$STATE,3060,begin surface
$SM_CCo,3077,106.88,0.044,0,0,407,611.52
$SM_GC,2.04,0.00,0.00,106.88,0.000,0.000,0.044,69,1969,407,-9.27,1.41,611.52
$IRIDIUM_FIX,-3422.54,2621.03,110308,080806
$TT8_MAMPS,0.026964
$HUMID,59.09
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.0,30.3
$24V_AH,24.4,43.481
$10V_AH,10.2,35.107
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.200,25.025,383.800,106.875,0.000,25.490,45.945,193.939,2.250,0.000,23.749,934.306,677.261,444.778,1413.793,113.646,0.000,954.990,0.000,1085.705,0.000,16.170,0.000
$DEVICE_MAMPS,279.990,156.060,619.650,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.179,660.978,636.870,385.718,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,30507,429
$CAP_FILE_SIZE,51592,4
$CFSIZE,2097086464,2046525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,1
$GPS,150515,204705,-3432.936,2509.694,31,1.3,31,-27.7